Systems and methods for medical device control

Abstract

Medical device control system and method. The method includes obtaining a first user input (510); determining whether the first user input satisfies a triggering condition (520); causing the control device to enter a control state if it is determined that the first user input satisfies the triggering condition (530); obtaining a tilt state of the control device (540); and controlling a motion state of at least one component of the medical device based on the tilt state (550).

Description

Technical Field

[0001] This application generally relates to medical systems and methods, and more specifically, to systems and methods for controlling radiotherapy equipment. Background Technology

[0002] Medical devices are widely used in clinical examinations and medical diagnosis. When using medical devices to image or treat patients, users (e.g., physicians) need to control the movement of one or more components of the medical device (e.g., direction of movement, speed of movement). For example, radiotherapy equipment is typically equipped with a control device (e.g., a handheld control box) through which users can control the movement of components of the radiotherapy equipment (e.g., treatment table, gantry, collimator). Generally, the smaller the size of the control device, the more convenient the user's operation, and users expect to be able to operate blindly without looking at the control device. Therefore, there is a desire to improve the structure of the control device to provide a system and method for convenient and accurate control of medical devices. Summary of the Invention

[0003] In a first aspect of this application, a method for controlling a medical device is provided, comprising: acquiring a first user input; determining whether the first user input satisfies a trigger condition; if it is determined that the first user input satisfies the trigger condition, causing the control device to enter a control state; acquiring the tilt state of the control device; and controlling the motion state of at least one component of the medical device based on the tilt state, the motion state including motion direction and / or motion speed.

[0004] In some embodiments, the control device includes at least one first key, and determining whether the first user input meets the triggering condition includes: determining whether the first user input is selecting the at least one first key.

[0005] In some embodiments, the control device includes at least one second key, and controlling the motion state of at least one component of the medical device based on the tilt state includes: acquiring second user input for selecting at least one of the at least one second key; and controlling the motion state of the at least one component of the medical device based on the second user input and the tilt state.

[0006] In some embodiments, the tilt state includes a tilt direction and / or a tilt angle, and controlling the motion state of at least one component of the medical device based on the second user input and the tilt state includes: determining the motion direction of the at least one component based on the second user input and the tilt direction; and / or determining the motion speed of the at least one component based on the second user input and the tilt angle.

[0007] In some embodiments, determining the movement speed of the at least one component based on the second user input and the tilt angle includes: determining whether the tilt angle is greater than or equal to an angle threshold; and if the tilt angle is greater than or equal to the angle threshold, setting the movement speed of the at least one component to a preset speed.

[0008] In some embodiments, the control device includes a vibration device, which represents the speed of motion of at least one component through the vibration frequency and / or vibration amplitude of the vibration device.

[0009] In some embodiments, the step of causing the control device to enter a control state when it is determined that the first user input satisfies the trigger condition includes: determining whether the control device is in an initial state; and if it is determined that the control device is in the initial state and the first user input satisfies the trigger condition, causing the control device to enter the control state.

[0010] In some embodiments, controlling the motion state of at least one component of the medical device based on the tilt state includes: acquiring the state of the control device at the time of the first user input as a reference state; determining the tilt state of the control device based on the reference state; and controlling the motion state of the at least one component of the medical device based on the tilt state.

[0011] In some embodiments, the control device includes an inertial sensor, and acquiring the tilt state of the control device includes: acquiring detection data from the inertial sensor; and determining the tilt state of the control device based on the detection data.

[0012] In some embodiments, the medical device is a radiotherapy device, which includes a treatment bed, a gantry, and a collimator. The motion state of at least one component of the radiotherapy device includes at least one of the following: translational motion of the treatment bed along a first axis, translational motion of the treatment bed along a second axis, translational motion of the treatment bed along a third axis, rotational motion of the treatment bed about a treatment bed rotation axis, rotational motion of the gantry about a gantry rotation axis, or rotational motion of the collimator about a collimator rotation axis.

[0013] In a second aspect of this application, a medical system is provided, including a medical device, a control device, at least one processor, and at least one storage medium. The medical device includes at least one component. The control device includes at least one inertial sensor. The at least one storage medium is used to store instructions, which, when executed, cause the at least one processor to cause the system to perform the following steps: acquiring a tilt state of the control device via the inertial sensor; and, based on the tilt state, controlling the motion state of the at least one component of the medical device, the motion state including a direction of motion and / or a speed of motion.

[0014] In some embodiments, the control device includes at least one first key, and the at least one processor further causes the system to perform the following steps: in response to a user selecting the at least one first key, causing the control device to enter a control state.

[0015] In some embodiments, the control device includes at least one second key, and the at least one processor further causes the system to perform the following steps: in response to at least one of the at least one second key selected by a user, determining at least one movement of at least one component to be controlled from the at least one component; and controlling the movement state of at least one movement of the at least one component to be controlled based on the tilt state.

[0016] In some embodiments, the tilt state includes a tilt direction and / or a tilt angle. In order to control the motion state of at least one motion of the at least one component to be controlled based on the tilt state, the at least one processor causes the system to perform the following steps: determining the motion direction of at least one motion of the at least one component to be controlled based on the tilt direction; and / or determining the motion speed of at least one motion of the at least one component to be controlled based on the tilt angle.

[0017] In some embodiments, the inertial sensor includes an accelerometer or a gyroscope.

[0018] In some embodiments, the control device includes a vibration device, the vibration frequency and / or vibration amplitude of which are related to the tilt state of the control device.

[0019] In some embodiments, the control device includes a vibration device, the vibration frequency and / or vibration amplitude of which are proportional to the magnitude of the movement speed of the at least one component.

[0020] In some embodiments, the control device has a single motion mode, in which the control device controls the motion state of a corresponding component along a single axis direction at the same time.

[0021] In some embodiments, the control device has multiple motion modes, in which the control device controls the motion states of multiple corresponding components at the same time, or controls the motion states of a component along multiple axial directions.

[0022] In a third aspect of this application, a control device is provided, including an inertial sensor, a display device, at least one first key, and at least one second key. The at least one first key is used to put the control device into a control state. The at least one second key is used to select the movement of at least one component of a medical device to be controlled.

[0023] In some embodiments, the at least one first key and / or the at least one second key is a physical key or a touch key.

[0024] In some embodiments, when the at least one first key is selected, the control device enters the control state.

[0025] In some embodiments, the display device displays a first interface, the first interface including at least one icon to be selected, the at least one icon to be selected corresponding to the at least one second key.

[0026] In some embodiments, when at least one of the at least one second key is selected, the display device displays a second interface for indicating the movement of the at least one component of the medical device to be controlled.

[0027] In some embodiments, the inertial sensor includes an accelerometer or a gyroscope.

[0028] In some embodiments, the control device includes a vibration device, the vibration frequency and / or vibration amplitude of which are related to the tilt state of the control device.

[0029] In some embodiments, the control device includes a vibration device, the vibration frequency and / or vibration amplitude of which are proportional to the magnitude of the speed of motion of the at least one component to be controlled.

[0030] In some embodiments, the control device has a single motion mode, in which the control device controls the motion state of a corresponding component along a single axis direction at the same time.

[0031] In some embodiments, the control device has multiple motion modes, in which the control device controls the motion states of multiple corresponding components at the same time, or controls the motion states of a component along multiple axial directions.

[0032] In some embodiments, the control device is a handheld device.

[0033] Some of the additional features of this application will be described in the following description. These additional features will be apparent to those skilled in the art from the study of the following description and the accompanying drawings, or from an understanding of the production or operation of the embodiments. The features of this application can be implemented and achieved through the practice or use of methods, means, and combinations thereof relating to the specific embodiments described below. Attached Figure Description

[0034] This application will be further described through exemplary embodiments. These exemplary embodiments will be described in detail with reference to the accompanying drawings. These embodiments are non-limiting exemplary embodiments, in which the same numbers in the figures denote similar structures, wherein:

[0035] Figure 1 These are schematic diagrams of exemplary medical systems according to some embodiments of this application;

[0036] Figure 2 This is a schematic diagram of an exemplary computing device on which at least a portion of a medical system can be implemented, according to some embodiments of this application;

[0037] Figure 3 These are schematic diagrams of exemplary hardware and / or software components of an exemplary mobile device on which a terminal may be implemented, according to some embodiments of this application;

[0038] Figure 4 This is a block diagram of an exemplary processing device 140 according to some embodiments of this application;

[0039] Figure 5 This is a flowchart illustrating an exemplary process for controlling a medical device according to some embodiments of this application;

[0040] Figure 6 These are schematic diagrams of exemplary control devices according to some embodiments of this application;

[0041] Figure 7 This is a schematic diagram of the interface of an exemplary control device according to some embodiments of this application;

[0042] Figure 8 These are schematic diagrams of the interface of an exemplary control device according to some embodiments of this application; and

[0043] Figure 9 This is a schematic diagram of the interface of an exemplary control device according to some embodiments of this application. Detailed Implementation

[0044] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. However, those skilled in the art should understand that this application can be implemented without these details. In other instances, to avoid unnecessarily obscuring various aspects of this application, well-known methods, processes, systems, components, and / or circuits have been described at a higher level. It will be apparent to those skilled in the art that various changes can be made to the disclosed embodiments, and the general principles defined in this application can be applied to other embodiments and application scenarios without departing from the principles and scope of this application. Therefore, this application is not limited to the embodiments shown, but conforms to the broadest scope consistent with the scope of the claims.

[0045] The terminology used in this application is for the purpose of describing particular exemplary embodiments only and is not restrictive. The singular forms “a,” “an,” and “the” used in this application may also include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “comprising” and “including” as used in this specification only indicate the presence of the stated features, integers, steps, operations, components, and / or parts, but do not exclude the presence or addition of other features, integers, steps, operations, components, parts, and / or combinations thereof.

[0046] It is understood that the terms “system,” “engine,” “unit,” “module,” and / or “block” used in this application are methods for distinguishing different components, elements, parts, sections, or assemblies at different levels in ascending order. However, these terms may be replaced with other expressions if the same purpose can be achieved.

[0047] Generally, the terms "module," "unit," or "block" as used herein refer to logic embodied in hardware or firmware, or a collection of software instructions. The modules, units, or blocks described herein can be implemented as software and / or hardware and can be stored on any type of non-transitory computer-readable medium or other storage device. In some embodiments, software modules / units / blocks can be compiled and linked into an executable program. It will be appreciated that software modules can be invoked from other modules / units / blocks or themselves, and / or can be invoked in response to detected events or interrupts. They can be provided on computer-readable media configured for use on computing devices (e.g., such as...). Figure 2The software module / unit / block executed on the processor 210 shown herein. For example, an optical disc, digital video disc, flash drive, disk, or any other tangible medium, or as a digital download (and may initially be stored in a compressed or installable format, requiring installation, decompression, or decryption before execution). The software code herein may be stored, in part or in whole, in the storage device of the computing device performing the operation and applied in the operation of the computing device. Software instructions may be embedded in firmware. It should also be understood that hardware modules / units / blocks may be included in connected logical components, such as gates and flip-flops, and / or may include programmable units, such as programmable gate arrays or processors. The modules / units / blocks or computing device functions described herein may be implemented as software modules / units / blocks, but may be represented in hardware or firmware. Generally, the modules / units / blocks described herein refer to logical modules / units / blocks that may be combined with other modules / units / blocks or divided into sub-modules / sub-units / sub-blocks, although they are physical organization or storage devices. This description may apply to a system, an engine, or a part thereof.

[0048] It is understood that, unless the context explicitly states otherwise, when a unit, engine, module, or block is referred to as being "on," "connected," or "coupled to" another unit, engine, module, or block, it may be directly on, connected to, coupled to, or communicate with that other unit, engine, module, or block, or there may be intermediate units, engines, modules, or blocks. In this application, the term "and / or" may include any one or more of the relevant listed items or a combination thereof.

[0049] These and other features, characteristics, functions and operating methods of related structural elements, as well as component assembly and manufacturing economics, will become more apparent from the following description of the accompanying drawings, which form part of this application specification. However, it should be understood that the drawings are for illustrative purposes only and are not intended to limit the scope of this application. It should also be understood that the drawings are not drawn to scale.

[0050] The flowcharts used in this application illustrate operations performed by a system according to some embodiments disclosed in this application. It should be understood that the operations in the flowcharts may not be performed sequentially. Instead, various steps may be processed in reverse order or simultaneously. Furthermore, one or more other operations may be added to these flowcharts. One or more operations may also be deleted from the flowcharts.

[0051] In current radiotherapy systems, radiotherapy equipment is typically equipped with a control device (e.g., a handheld control box). Users (e.g., doctors) can control the movement of components within the radiotherapy equipment (e.g., gantry rotation, collimator rotation, treatment bed rotation, and treatment bed translation) via this control box. The handheld control box usually has a set of buttons or knobs, each corresponding to the movement of a specific component of the radiotherapy equipment along a specific axis. For example, the handheld control box may have six knobs, corresponding to the rotation of the gantry around its axis of rotation, the rotation of the collimator around its axis of rotation, the rotation of the treatment bed around its axis of rotation, and the movement of the treatment bed along a first direction (e.g., [missing information]). Figure 1 Translational motion along the X-axis (as shown), and the treatment bed along the second direction (e.g., Figure 1 Translational motion of the treatment bed along a third direction (e.g., the Y-axis direction) and the third direction of the treatment bed (e.g., Figure 1 Translational motion (in the Z-axis direction shown).

[0052] In use, users can toggle the knobs to control different movements. Each knob's left and right directions correspond to the two directions of component movement along the axis. The knob's travel and movement speed can be linearly related; that is, the greater the distance the knob is toggled, the greater the speed of the corresponding component along the axis. However, the drawback of this design is that it's difficult to tell which knob the thumb is pressing without visual confirmation, hindering blind operation. When operating with one hand, it's difficult to simultaneously control the movement of multiple components. Furthermore, since the knobs are mechanical parts, the probability of malfunction is relatively high, potentially leading to unexpected component movements and causing hazards. The knobs are also relatively large, hindering miniaturization of the hand control box, and their cost is also high.

[0053] This application primarily provides a control device for controlling medical equipment (e.g., radiotherapy equipment). Inertial sensors are used to replace the functions of at least some mechanical moving parts such as toggle switches on the control device. The user only needs to control the tilt direction and tilt angle of the control device to control the motion state (e.g., direction of movement, speed of movement) of the components of the medical equipment. Specifically, a processing device (or control device) can acquire a first user input. The processing device (or control device) can determine whether the first user input meets a trigger condition. If it is determined that the first user input meets the trigger condition, the processing device (or control device) can put the control device into a control state. The processing device (or control device) can acquire the tilt state of the control device. Based on the tilt state, the processing device (or control device) can control the motion state of at least one component of the medical equipment.

[0054] By using the control device provided in this application, users no longer need to visually inspect mechanical moving parts such as toggle switches. They can control the movement of components of the medical device simply by controlling the tilt direction and angle of the control device, facilitating blind operation. Furthermore, existing inertial sensors have a high degree of integration; by integrating the inertial sensor onto the mainboard of the control device, the corresponding functions can be achieved, allowing for a very compact hand-held control box. In addition, since the control device reduces or eliminates mechanical moving parts such as toggle switches, its service life can be extended.

[0055] Figure 1 This is a schematic diagram of an exemplary medical system according to some embodiments of this application. Medical system 100 may include medical device 110, network 120, one or more terminals 130, processing device 140, storage device 150, and control device 160. Components in medical system 100 may be connected in various ways. By way of example only, medical device 110 may be directly connected to control device 160 (as shown by the dashed double-headed arrow connecting medical device 110 and control device 160) or via network 120. As yet another example, control device 160 may be directly connected to processing device 140 (as shown by the dashed double-headed arrow connecting control device 160 and processing device 140) or via network 120. As yet another example, storage device 150 may be directly connected to medical device 110 (as shown by the dashed double-headed arrow connecting storage device 150 and medical device 110) or via network 120. As yet another example, terminal 130 may be connected to processing device 140 directly (as shown by the dashed double-headed arrow connecting terminal 130 and processing device 140) or via network 120. As yet another example, terminal 130 may be connected to storage device 150 directly (as shown by the dashed double-headed arrow connecting terminal 130 and storage device 150) or via network 120.

[0056] The medical device 110 can image and / or treat an object. In some embodiments, the object may include a biological object and / or a non-biological object. For example, the object may include a specific part of a human body, such as the head, chest, abdomen, etc., or a combination thereof. As another example, the object may be a patient to be scanned by the medical device 110.

[0057] In some embodiments, medical device 110 may be a medical imaging or treatment device for disease diagnosis or research purposes. In some embodiments, medical device 110 may include a single-modal device, such as an X-ray therapy device, a Co-60 teletherapy device, a medical electron accelerator, an ultrasound device, an X-ray device, a computed tomography (CT) device, a magnetic resonance imaging (MRI) device, an ultrasound examination device, a positron emission tomography (PET) device, an optical coherence tomography (OCT) device, an ultrasound (US) device, an intravascular ultrasound (IVUS) device, a near-infrared spectroscopy (NIRS) device, a far-infrared (FIR) device, etc., or any combination thereof. In some embodiments, medical device 110 may be a multimodal (e.g., bimodal) device. For example, medical device 110 may include an image-guided radiotherapy (IGRT) device, such as a CT-guided radiotherapy device, an MRI-guided radiotherapy device, etc. For example, medical device 110 may include an X-ray imaging-magnetic resonance imaging (X-MRI) scanner, a positron emission tomography-X-ray imaging (PET-X-ray) scanner, a single-photon emission computed tomography-magnetic resonance imaging (SPECT-MRI) scanner, a positron emission tomography-computed tomography (PET-CT) scanner, a digital subtraction angiography-magnetic resonance imaging (DSA-MRI) scanner, etc. The devices described above are for illustrative purposes only and are not intended to limit the scope of this application. As used herein, the term "imaging modality" or "modality" broadly refers to imaging methods or techniques for collecting, generating, processing, and / or analyzing imaging information of a target object.

[0058] In some embodiments, the medical system 100 may include a radiotherapy component, such as a treatment head. The treatment head is connected to a gantry. In some embodiments, the treatment head may move in tandem with the movement (e.g., rotation) of the gantry. The treatment head may include a target, a therapeutic radiation source, and a collimator. The therapeutic radiation source may emit a radiation beam toward the object. The collimator may include a primary collimator and a secondary collimator, the secondary collimator including multi-leaf gratings and tungsten gates, etc.

[0059] In some embodiments, the medical device 110 may include radiation therapy aids, such as an electron field imaging device (EPID). The EPID can generate images of the subject before, during, and / or after treatment. The EPID may include detectors for detecting radiation emitted from the therapeutic radiation source (e.g., X-rays, gamma rays). In some embodiments, the detector may include one or more detection units. The detection units may include scintillation detectors (e.g., cesium iodide detectors, gadolinium oxysulfide detectors), gas detectors, etc. The detection units may include single-row detectors or multi-row detectors.

[0060] Network 120 may include any suitable network that facilitates the exchange of information and / or data between the medical system 100 and the medical system 100. In some embodiments, one or more components of the medical system 100 (e.g., medical device 110, terminal 130, processing device 140, storage device 150) may communicate information and / or data with one or more other components of the medical system 100 via network 120. For example, processing device 140 may obtain image data from medical device 110 via network 120. As another example, processing device 140 may obtain user instructions from terminal 130 via network 120. As yet another example, processing device 140 may send treatment queues, patient information, etc., to control device 160 via network 120 for display to the user. As yet another example, processing device 140 may send mechanical parameters, hardware status, etc., of components of medical device 110 to control device 160 via network 120 for display to the user. Network 120 may be and / or include public networks (e.g., the Internet), private networks (e.g., local area networks (LANs), wide area networks (WANs)), wired networks (e.g., wireless LANs), Ethernet, wireless networks (e.g., 802.11 networks, Wi-Fi networks), cellular networks (e.g., Long Term Evolution (LTE) networks), Frame Relay networks, virtual private networks (“VPNs”), satellite networks, telephone networks, routers, hubs, switches, server computers, and / or any combination thereof. By way of example only, network 120 may include cable networks, wired networks, fiber optic networks, telecommunications networks, intranets, wireless local area networks (WLANs), metropolitan area networks (MANs), public switched telephone networks (PSTNs), Bluetooth networks, ZigBee networks, near field communication (NFC) networks, etc., or any combination thereof. In some embodiments, network 120 may include one or more network access points. For example, network 120 may include wired and / or wireless network access points such as base stations and / or internet exchange points, and one or more components of medical system 100 may connect to network 120 through wired and / or wireless access points to exchange data and / or information.

[0061] Terminal 130 may include mobile device 130-1, tablet computer 130-2, laptop computer 130-3, etc., or any combination thereof. In some embodiments, mobile device 130-1 may include smart home device, wearable device, smart mobile device, virtual reality device, augmented reality device, etc., or any combination thereof. As an example only, terminal 130 may include, for instance... Figure 3The mobile devices shown are described. In some embodiments, smart home devices may include smart lighting devices, smart appliance control devices, smart monitoring devices, smart TVs, smart cameras, walkie-talkies, etc., or any combination thereof. In some embodiments, wearable devices may include bracelets, shoes, glasses, helmets, watches, clothing, backpacks, smart accessories, etc., or any combination thereof. In some embodiments, mobile devices may include mobile phones, personal digital assistants (PDAs), gaming devices, navigation devices, point-of-sale (POS) devices, laptop computers, tablet computers, desktop computers, etc., or any combination thereof. In some embodiments, virtual reality devices and / or augmented reality devices may include virtual reality helmets, virtual reality glasses, virtual reality goggles, augmented reality helmets, augmented reality glasses, augmented reality goggles, etc., or any combination thereof. For example, virtual reality devices and / or augmented reality devices may include Google Glass. TM Oculus Rift TM HoloLens TM Gear VR TM In some embodiments, one or more terminals 130 may be part of a processing device 140.

[0062] Processing device 140 can process data and / or information obtained from medical device 110, terminal 130, control device 160, and / or storage device 150. For example, processing device 140 may include a first processing device and a second processing device. The first processing device can send data such as treatment queues and patient information to control device 160 via Ethernet using the TCP / IP protocol. The second processing device can send information such as mechanical parameters and hardware status of components of medical device 110 to control device 160 via Ethernet using the TCP / IP protocol. An application running on control device 160 can present this data to a user. In some embodiments, processing device 140 may be a single server or a group of servers. The server group may be centralized or distributed. In some embodiments, processing device 140 may be a local or remote component relative to one or more other components of medical system 100. For example, processing device 140 may access information and / or data stored in medical device 110, terminal 130, control device 160, and / or storage device 150 via network 120. As another example, processing device 140 can be directly connected to medical device 110, terminal 130, control device 160, and / or storage device 150 to access stored information and / or data. In some embodiments, processing device 140 can be implemented on a cloud platform. As an example only, a cloud platform can include private cloud, public cloud, hybrid cloud, community cloud, distributed cloud, internal cloud, multi-tiered cloud, etc., or any combination thereof. In some embodiments, processing device 140 can be provided by a device having, for example, Figure 2The computing device 200, which includes one or more components as shown, is used to implement this.

[0063] Storage device 150 may store data, instructions, and / or any other information. In some embodiments, storage device 150 may store data obtained from terminal 130, control device 160, and / or processing device 140. In some embodiments, storage device 150 may store data and / or instructions that processing device 140 may execute or use to execute the exemplary methods described in this application. In some embodiments, storage device 150 may include mass storage, removable storage, volatile read-write storage, read-only storage (ROM), etc., or any combination thereof. Exemplary mass storage may include disks, optical disks, solid-state drives, etc. Exemplary removable storage may include flash drives, floppy disks, optical disks, memory cards, compact disks, magnetic tapes, etc. Exemplary volatile read-write storage may include random access memory (RAM). Exemplary RAM may include dynamic random access memory (DRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), static random access memory (SRAM), thyristor random access memory (T-RAM), and zero-capacitance random access memory (Z-RAM), etc. Exemplary ROMs may include mask ROMs (MROMs), programmable ROMs (PROMs), erasable programmable ROMs (EPROMs), electrically erasable programmable ROMs (EEPROMs), optical disc ROMs (CD-ROMs), and digital multifunction disk ROMs, etc. In some embodiments, the storage device 150 can be implemented on a cloud platform. As an example only, a cloud platform may include private clouds, public clouds, hybrid clouds, community clouds, distributed clouds, internal clouds, multi-layered clouds, etc., or any combination thereof.

[0064] In some embodiments, storage device 150 may be connected to network 120 to communicate with one or more other components of medical system 100 (e.g., processing device 140, terminal 130, control device 160). One or more components of medical system 100 may access data or instructions stored in storage device 150 via network 120. In some embodiments, storage device 150 may be directly connected to or communicate with one or more other components of medical system 100 (e.g., processing device 140, terminal 130, control device 160). In some embodiments, storage device 150 may be part of processing device 140.

[0065] Control device 160 can control medical device 110. For example, a user of medical system 100 (e.g., a doctor) can control the motion state of one or more components of medical device 110 through control device 160. In some embodiments, control device 160 may be integrated into terminal 130.

[0066] In some embodiments, the control device 160 may include an inertial sensor. An inertial sensor is a sensor that detects and measures acceleration, tilt, impact, vibration, rotation, and multi-degree-of-freedom motion. An inertial sensor may include an accelerometer or a gyroscope, etc. An accelerometer may include a piezoresistive accelerometer, a piezoelectric accelerometer, a capacitive accelerometer, etc. An accelerometer may include an analog accelerometer and a digital accelerometer, etc. In some embodiments, the accelerometer may include a triaxial accelerometer. A triaxial accelerometer is a sensor used to measure spatial acceleration, that is, to measure the rate of change of velocity of an object in space. For example, a triaxial accelerometer can measure the acceleration of an object along three axes. A gyroscope is a device that detects the angular motion of a high-speed rotating body relative to inertial space about one or two axes orthogonal to its rotation axis.

[0067] In some embodiments, the control device 160 may include a vibration device. The vibration device may include a motor, a haptic device, etc. A haptic device is a device that can accurately record displacement processes in multiple degrees of freedom and convert them into electrical signals. The motor may include a linear motor. A linear motor is a transmission device that directly converts electrical energy into linear motion mechanical energy. In some embodiments, the vibration device can be used to generate vibration. For example, the vibration device can generate up-and-down vibration. In some embodiments, the detection data of the inertial sensor may be related to the frequency and / or amplitude of the vibration generated by the vibration device. For example, the frequency and amplitude of the vibration generated by the vibration device can be determined based on the detection data of the inertial sensor. As another example, the value of the gravitational acceleration of the control device 160 in the detection data of the inertial sensor is proportional to the vibration frequency or amplitude generated by the motor.

[0068] In some embodiments, the control device 160 may further include a processor, a display device, a voice acquisition device (e.g., a microphone), an image acquisition device (e.g., a camera), at least one first button, at least one second button, etc., or any combination thereof. The display device is used to display information or data. For example, the display device may display patient information, the motion state of components of the medical device 110, etc. The voice acquisition device may be used to acquire the user's voice. The image acquisition device may be used to acquire the user's image. The processor may be used to execute the control methods for the medical device 110 described elsewhere in this application (e.g., ...). Figure 5 The process shown is 500). In some embodiments, the control device 160 may communicate with other components in the medical system 100 (e.g., medical device 110) via a wired or wireless network. Further description of the control device 160 can be found elsewhere in this application (e.g., Figure 5-9 (and related descriptions).

[0069] In some embodiments, a coordinate system 170 may be provided for the medical device 110 to define the positions (e.g., absolute positions, positions relative to another component) and / or the movements of the components of the medical device 110. For example, the coordinate system 170 may include an X-axis, a Y-axis, and a Z-axis. The X-axis and Y-axis are horizontal axes, and the Z-axis is a vertical axis. Figure 1 As shown, the positive direction of the Y-axis can be the direction from the left side of the treatment bed to the right when looking towards the front of the medical device 110; the positive direction of the X-axis can be the direction in which the treatment bed moves from the inside to the outside of the medical device 110; the positive direction of the Z-axis can be the direction from the top of the medical device 110 to the bottom of the medical device 110 (or the ground where the medical device 110 is located). Coordinate system 170 is provided for illustrative purposes only; for example, coordinate system 170 may also include other coordinate axes. Furthermore, the directions of the X-axis, Y-axis, and Z-axis may be other directions, which are not limited in this application.

[0070] It should be noted that the above description is provided for illustrative purposes only and is not intended to limit the scope of this application. Various changes and modifications can be made by those skilled in the art based on the guidance of this application. Features, structures, methods, and other features of the exemplary embodiments described in this application can be combined in various ways to obtain other and / or alternative exemplary embodiments. However, these changes and modifications will not depart from the scope of this application.

[0071] Figure 2 This is a schematic diagram of an exemplary computing device on which at least a portion of a medical system 100 can be implemented, according to some embodiments of this application. For example... Figure 2 As shown, the computing device 200 may include a processor 210, a memory 220, an input / output (I / O) 230, and a communication port 240.

[0072] Processor 210 can execute computer instructions (e.g., program code) and perform the functions of processing device 140 according to the techniques described in this application. Computer instructions may include, for example, routines, programs, objects, components, data structures, procedures, modules, and functions that perform the specific functions described in this application. For example, processor 210 can process data or information obtained from medical device 110, storage device 150, terminal 130, and / or any other component of medical system 100. In some embodiments, processor 210 may include one or more hardware processors, such as microcontrollers, microprocessors, reduced instruction set computers (RISC), application-specific integrated circuits (ASICs), application-specific instruction set processors (ASIPs), central processing units (CPUs), graphics processing units (GPUs), physical processing units (PPUs), microcontroller units, digital signal processors (DSPs), field-programmable gate arrays (FPGAs), advanced RISC machines (ARMs), programmable logic devices (PLDs), any circuit or processor capable of performing one or more functions, or combinations thereof.

[0073] For illustrative purposes only, only one processor is described in computing device 200. However, it should be noted that computing device 200 disclosed in this application may also include multiple processors. Therefore, the operations and / or method steps disclosed in this application that are executed by one processor may also be executed jointly or separately by multiple processors. For example, if in this application, the processor of computing device 200 executes operations A and B, it should be understood that operations A and B may also be executed jointly or separately by two or more different processors in computing device 200 (e.g., the first processor executes operation A, the second processor executes operation B, or the first processor and the second processor jointly execute operations A and B).

[0074] Memory 220 can store data / information obtained from medical device 110, storage device 150, terminal 130, control device 160, and / or any other component of medical system 100. In some embodiments, memory 220 may include mass storage, removable storage, volatile read-write storage, read-only storage, etc., or any combination thereof. For example, mass storage may include disks, optical disks, solid-state drives, etc. Removable storage may include flash drives, floppy disks, optical disks, memory cards, compact disks, magnetic tapes, etc. Volatile read-write storage may include random access memory (RAM). RAM may include dynamic RAM (DRAM), double-data-rate synchronous dynamic RAM (DDR SDRAM), static RAM (SRAM), thyristor RAM (T-RAM), and zero-capacitor RAM (Z-RAM), etc. ROM may include mask ROM (MROM), programmable ROM (PROM), erasable programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), optical disc ROM (CD-ROM), and digital multifunction disk ROM, etc. In some embodiments, memory 220 may store one or more programs and / or instructions to perform the exemplary methods described herein.

[0075] I / O 230 can input and / or output signals, data, information, etc. In some embodiments, I / O 230 enables a user to interact with processing device 140. In some embodiments, I / O 230 may include input devices and output devices. Exemplary input devices may include a keyboard, mouse, touchscreen, microphone, etc., or combinations thereof. Exemplary output devices may include display devices, speakers, printers, projectors, etc., or combinations thereof. Exemplary display devices may include liquid crystal displays (LCDs), light-emitting diode (LED) based displays, flat panel displays, curved screens, television equipment, cathode ray tubes (CRTs), touchscreen screens, etc., or combinations thereof.

[0076] Communication port 240 can be connected to a network (e.g., network 120) to facilitate data communication. Communication port 240 can establish a connection between processing device 140 and medical device 110, control device 160, storage device 150, and / or terminal 130. This connection can be a wired connection, a wireless connection, any other communication connection that enables data transmission and / or reception, and / or a combination of these connections. Wired connections can include, for example, cables, optical fibers, telephone lines, etc., or any combination thereof. Wireless connections can include, for example, Bluetooth, Wi-Fi, WiMax, wireless LAN, ZigBee, mobile networks (e.g., 3G, 4G, 5G), etc., or combinations thereof. In some embodiments, communication port 240 can be and / or includes a standardized communication port, such as RS232, RS485, etc. In some embodiments, communication port 240 can be a specially designed communication port. For example, communication port 240 can be designed according to the Digital Imaging and Medical Communications (DICOM) protocol.

[0077] Figure 3 These are schematic diagrams illustrating exemplary hardware and / or software components of an exemplary mobile device on which a terminal can be implemented, according to some embodiments of this application. Figure 3 As shown, the mobile device 300 may include a communication platform 310, a display 320, a graphics processing unit (GPU) 330, a central processing unit (CPU) 340, input / output (I / O) 350, memory 360, and storage 390. In some embodiments, any other suitable components, including but not limited to a system bus or controller (not shown), may also be included within the mobile device 300. In some embodiments, a mobile operating system 370 (e.g., iOS) may be included. TM Android TM Windows Phone TM One or more applications 380 are loaded from storage 390 into memory 360 for execution by CPU 340. Application 380 may include a browser or any other suitable mobile application for receiving and rendering information or other information relating to medical system 100 from processing device 140. User interaction with the information may be achieved via I / O 350 and made available to processing device 140 and / or other components of medical system 100 via network 120.

[0078] To implement the various modules, units, and functions described in this application, a computer hardware platform can be used as the hardware platform for one or more components described in this application. A computer with user interface elements can be used as a personal computer (PC) or any other type of workstation or terminal device. If properly programmed, the computer can also be used as a server.

[0079] Figure 4 This is a block diagram of an exemplary processing device 140 according to some embodiments of this application. The processing device 140 may include an acquisition module 410, a determination module 420, and a control module 430.

[0080] The acquisition module 410 can acquire data and / or information related to the medical system 100. This data and / or information may include user input, triggering conditions, the tilt state of the control device 160, detection data from inertial sensors, mechanical parameters of one or more components of the medical device 110, motion states (e.g., speed, direction of motion), or any combination thereof. For example, the acquisition module 410 can acquire first user input. Further description of acquiring the first user input can be found elsewhere in this application (e.g., step 510 and its description). As another example, the acquisition module 410 can acquire second user input. Further description of acquiring the second user input can be found elsewhere in this application (e.g., step 550 and its description). As yet another example, the acquisition module 410 can acquire the tilt state of the control device 160. Further description of acquiring the tilt state of the control device 160 can be found elsewhere in this application (e.g., step 540 and its description). In some embodiments, the acquisition module 410 may acquire data and / or information relating to the medical system 100 from one or more other components of the medical system 100 (e.g., medical device 110, control device 160, storage device 150).

[0081] The determining module 420 can determine data and / or information related to the medical system 100. In some embodiments, the determining module 420 can determine whether the first user input satisfies a trigger condition. For example, the trigger condition may be that the first user input includes selecting at least one first key. Alternatively, the trigger condition may be related to the duration of the user's selection of at least one first key. Another example is that the trigger condition may be related to the number of times the user taps at least one first key within a certain time period. Yet another example is that the trigger condition may be a voice command input by the user that meets certain conditions. Furthermore, the trigger condition may also be a specific gesture, a specific facial expression, a specific posture, a specific password, or any combination thereof. Further description of determining whether the first user input satisfies a trigger condition can be found elsewhere in this application (e.g., step 520 and its description).

[0082] Control module 430 can control the state of one or more components in medical system 100. In some embodiments, control module 430 can control the state of control device 160. For example, if it is determined that a first user input meets a trigger condition, control module 430 can control control device 160 to enter a control state. Further description of the control state can be found elsewhere in this application (e.g., step 530 and its description). In some embodiments, control module 430 can control the state of at least one component of medical device 110. For example, control module 430 can control the motion state (e.g., direction of motion, speed of motion) of at least one component of medical device 110. Further description of controlling the motion state of at least one component can be found elsewhere in this application (e.g., step 550 and its description).

[0083] It should be noted that the above description of the processing device 140 is provided for illustrative purposes only and is not intended to limit the scope of this application. Various changes and modifications can be made by those skilled in the art based on the description herein. However, these changes and modifications do not depart from the scope of this application. For example, the processing device 140 may also include a storage module (not shown in the figures) for data storage. As another example, the acquisition module 410 and the determination module 420 may be integrated into a single module.

[0084] Figure 5 This is a flowchart illustrating an exemplary process for controlling a medical device according to some embodiments of this application. In some embodiments, at least a portion of process 500 may be performed by processing device 140 (e.g., in...). Figure 2 The process 500 may be implemented in the computing device 200 shown or executed by the control device 160 (e.g., the processor of the control device 160). For example, the process 500 may be stored in a storage device (e.g., storage device 150, memory 220, memory 390) as instructions (e.g., an application program) and executed by the processing device 140 (e.g., Figure 2 The processor 210 shown Figure 3 The CPU 340 shown, or Figure 4 The process 500 may be invoked and / or executed by one or more modules of the processing device 140 shown or by the control device 160. The operation of the processes shown below is for illustrative purposes only. In some embodiments, process 500 may be accomplished using one or more additional operations not described and / or without one or more operations discussed. Additionally, Figure 5 The order of operations of process 500 shown and described below is not intended to be limiting.

[0085] In 510, processing device 140 (e.g., acquisition module 410) or control device 160 can acquire the first user input.

[0086] In some embodiments, the first user input may be data and / or information input by a first user through the control device 160. The first user may be an operator (e.g., a doctor, nurse, technician) of a medical device (e.g., a radiotherapy device). In some embodiments, the control device 160 may include at least one first key. The first key may be a physical key, a touch key, etc. The first key may be located at any position on the control device 160. The first user input may be the first user's selection (e.g., pressing) of at least one first key. For example, the first key may be a physical key located on both sides below the control device 160 (e.g., as shown in the image). Figure 7 As shown in the diagram, the first keys 720-1 and 720-2 allow the first user to press the first keys on both sides of the control device 160 with their palm and four fingers (excluding the thumb) when holding the control device 160 with their left or right hand. In some embodiments, the control device 160 may be equipped with a voice acquisition device (e.g., a microphone). The first user input may be voice input from the first user. In some embodiments, the control device 160 may be equipped with a touchscreen that receives input from the first user in the form of touch, gestures, etc. The first user input may be a gesture operation by the first user. In some embodiments, the control device 160 may be equipped with an image acquisition device (e.g., a camera). The first user input may be the first user's posture or facial expression.

[0087] In step 520, processing device 140 (e.g., determining module 420) or control device 160 can determine whether the first user input meets a trigger condition. The trigger condition may be a condition used to determine whether processing device 140 or control device 160 can perform a control operation.

[0088] In some embodiments, the triggering condition may be a first user input including the selection of at least one first key. For example, the control device 160 may include a plurality of first keys, and the triggering condition may be that at least one of the plurality of first keys is selected or that all of the plurality of first keys are selected. Specifically, two first keys are provided on both sides of the control device 160 (e.g., as shown in the image). Figure 7 The first keys 720-1 and 720-2 shown in the diagram can be used to determine that the trigger condition is met when both first keys are pressed. That is, when both first keys are in the selected state (e.g., pressed), the trigger condition is determined to be met. When one or both first keys are released (e.g., not pressed), the trigger condition is determined to no longer be met.

[0089] In some embodiments, the triggering condition may be related to the duration of time at least one first key selected by the first user. In some embodiments, the triggering condition may be that the duration for which the first user presses at least one first key is equal to or greater than a first threshold. The first threshold may be 1 second, 1.5 seconds, 2 seconds, 2.5 seconds, 3 seconds, or any suitable value. For example, when two first keys are provided on both sides of the control device 160 (e.g., as shown in the image), the triggering condition may be related to the duration of time at which at least one first key is selected by the first user. Figure 7 If the first key 720-1 and the first key 720-2 shown are pressed simultaneously for more than 5 seconds, then the trigger condition can be determined to be met.

[0090] In some embodiments, the triggering condition may be related to the number of times a first user taps at least one first key within a certain time period. In some embodiments, the triggering condition may be that the number of times the first user taps at least one first key within a certain time period is equal to or greater than a second threshold. The second threshold may be 1, 2, 3, or any suitable value. For example, when the number of taps on the first key is greater than twice within 2 seconds, the triggering condition can be determined. The first threshold and / or the second threshold may be set manually or determined by one or more components of the medical system 100 (e.g., processing device 140) depending on the circumstances.

[0091] In some embodiments, the first user input may be a voice command issued by the first user. The triggering condition may be a voice command input by the first user that meets certain conditions. The first user may be a user authorized to control the medical device 110. The conditions may include that the voice command comes from the first user. The processing device 140 may determine whether the voice command comes from the first user. The determination may be based on the biometric information of the voice command issuer, including, for example, one or more of voiceprints, facial features, fingerprints, etc. For example, the processing device 140 may analyze the voiceprint of the voice command and compare the voice (or one or more features thereof) with the voiceprint (or one or more features thereof) of the authorized user stored in the storage device. Alternatively, the processing device 140 may receive an image (e.g., a facial photograph) of the voice command issuer and use facial recognition to determine whether the received voice command from the first user comes from the authorized user. When it is determined that the received voice command comes from the authorized user, the processing device 140 analyzes the content of the voice command to determine whether the triggering condition is met. For ease of description, the voice condition may be a pre-set text. For example, the voice condition may be "enter control state," then when the first user emits a sound including "enter control state," it can be determined that the triggering condition is met. In some embodiments, the triggering condition may also be a specific gesture, expression, posture, password, or any combination thereof of the first user.

[0092] In step 530, if it is determined that the first user input meets the triggering condition, the processing device 140 (e.g., control module 430) or the control device 160 can cause the control device 160 to enter a control state.

[0093] As used in this application, "control device 160 is in a control state" can refer to a state in which control device 160 can control other devices (e.g., components of medical device 110). In some embodiments, when control device 160 enters a control state, processing device 140 begins to acquire the tilt state of control device 160 and uses it to control medical device 110. That is, when control device 160 is not in a control state, processing device 140 does not acquire the tilt state of control device 160, or the tilt state of control device 160 acquired by processing device 140 is not used to control medical device 110.

[0094] In some embodiments, the control device 160 may include an inertial sensor. The inertial sensor may continuously acquire detection data, which may be used to determine the tilt state of the control device 160. When the control device 160 is in a control state, the detection data acquired by the inertial sensor may be used to control the medical device 110. When the control device 160 is not in a control state, the detection data acquired by the inertial sensor is not used to control the medical device 110, or the inertial sensor may stop acquiring detection data.

[0095] According to some embodiments of this application, by determining whether the first user input meets the triggering conditions, it can be determined whether the control device 160 can enter the control state, which can prevent the user from accidentally triggering the operation and ensure the safety of the radiotherapy operation.

[0096] In 540, the processing device 140 (e.g., acquisition module 410) or the control device 160 can acquire the tilt state of the control device 160.

[0097] In some embodiments, the tilt state may include a tilt direction, a tilt angle, etc. As used in this application, the tilt state of the control device 160 may refer to a reference plane of the control device 160 (e.g., ...). Figure 6 The control device 160 shown is in a tilted state (front 610). For example, as... Figure 6As shown, the control device 160 can tilt clockwise or counterclockwise around the Y' axis, clockwise or counterclockwise around the X' axis, and clockwise or counterclockwise around the Z' axis. In some embodiments, the tilt angle of the control device 160 cannot exceed a preset threshold. For example, the tilt angle of the control device 160 cannot exceed 90°. If the tilt angle of the control device 160 exceeds 90°, it may cause a change in the direction of the acceleration of the control device 160 collected by the inertial sensor (e.g., the sign of the acceleration changes from positive to negative), thereby causing a change in the motion direction of the corresponding component. In some embodiments, if the tilt angle of the control device 160 exceeds the preset threshold, the control device 160 can issue a prompt to the user to remind the user to adjust the tilt angle in time. In some embodiments, Figure 6 The X', Y', and Z' axes shown are... Figure 1 The X-axis, Y-axis, and Z-axis shown can be in a corresponding relationship.

[0098] In some embodiments, the control device 160 may include an inertial sensor, and the processing device 140 may determine the tilt state of the control device 160 based on the detection data from the inertial sensor. For example, the processing device 140 may acquire the detection data from the inertial sensor. In some embodiments, the inertial sensor may be an accelerometer (e.g., a triaxial accelerometer). The detection data from the accelerometer may include the control device 160 in three axial directions (e.g., as shown in the figure). Figure 6 Acceleration information on the X', Y', and Z' axes (as shown). Acceleration information can include the value and direction of the acceleration. For example, as... Figure 6 As shown, when the control device 160 is placed face up on a horizontal surface, the acceleration sensor's detection data can be: ax = 0, ay = 0, az = +9.8 m / s². 2 Here, ax, ay, and az represent the gravitational acceleration information of control device 160 along the X', Y', and Z' axes, respectively. The sign of the acceleration indicates its direction; for example, a positive sign indicates acceleration along the positive direction of the coordinate axis, and a negative sign indicates acceleration along the negative direction. When the user tilts control device 160 around the Y' axis in a clockwise or counterclockwise direction, the value of gravitational acceleration of control device 160 along the X' axis increases. The larger the tilt angle, the greater the increase in the value of gravitational acceleration of control device 160 along the X' axis. For example, when control device 160 tilts 90° clockwise around the Y' axis, the value of gravitational acceleration of control device 160 along the X' axis can be ax = 9.8 m / s². 2When the user picks up the control device 160 and tilts it clockwise or counterclockwise around the X' axis, the value of the gravitational acceleration of the control device 160 on the Y' axis increases. For example, when the control device 160 tilts 90° clockwise around the X' axis, the value of the gravitational acceleration of the control device 160 on the Y' axis can be ay = 9.8 m / s². 2 .

[0099] Furthermore, the processing device 140 can determine the tilt state of the control device 160 based on the detection data from the inertial sensor. For example, the inertial sensor can be an accelerometer; the processing device 140 can determine the tilt angle of the control device 160 based on the acceleration value of the control device 160 collected by the accelerometer. The processing device 140 can also determine the tilt direction of the control device 160 based on the direction of the acceleration of the control device 160 collected by the accelerometer. As another example, the inertial sensor can be a gyroscope; the gyroscope can collect the angular velocity of the control device 160, and the processing device 140 can integrate the angular velocity of the control device 160 collected by the gyroscope over time to determine the tilt angle of the control device 160.

[0100] In some embodiments, the tilt state of the control device 160 can be evaluated relative to a specific initial state. For example, when it is determined that the first user input meets the triggering condition, it can be further determined whether the control device 160 is in an initial state. In some embodiments, the initial state of the control device 160 can be a horizontal state with the control device 160 facing upwards, i.e., the reference plane of the control device 160 (e.g., Figure 6 The front side (610) of the control device 160 shown is parallel or substantially parallel to the horizontal plane. As used herein, "substantially" means a deviation below a threshold (e.g., 5%, 10%, 15%, 20%, 30%). For example, "the first plane is substantially parallel to the second plane" can mean that the angle between the first plane and the second plane is less than 5°, less than 3°, or less than 1°, etc. In some embodiments, the control device 160 can be determined to be in its initial state by detection data collected by an inertial sensor. For example, the gravitational acceleration of the control device 160 on the Z' axis can be determined to be +9.8 m / s². 2 Is the difference between them less than the gravitational acceleration threshold (e.g., 0.1 m / s²)? 2 0.2m / s 2 0.5m / s 2 If the gravitational acceleration of control device 160 on the Z' axis is determined to be +9.8 m / s², then... 2When the difference between the values ​​is less than the acceleration threshold, it can be determined that the control device 160 is in the initial state, at which point the control device 160 enters the control state. In some embodiments, when it is determined that the first user input meets the triggering condition and the control device 160 is not in the initial state, one or more components of the medical system 100 (e.g., the control device 160) can issue a prompt to the user to remind the user to adjust the state of the control device 160.

[0101] In some situations, when the control device 160 is in a non-initial state (e.g., tilted state), if the control device 160 directly enters the control state, the gravitational acceleration of the control device 160 in a certain direction is not zero, which may lead to the danger of sudden movement of corresponding components after entering the control state. According to some embodiments of this application, the control device 160 can only enter the control state when it is in the initial state (horizontal state) and the first user input meets the triggering conditions, thus improving the safety of medical device operation.

[0102] In some embodiments, the tilt state of the control device 160 can be evaluated relative to a reference state. It may not be necessary to determine whether the control device 160 is in a specific initial state; the control device 160 can directly enter the control state only when the first user input satisfies the trigger condition. For example, the processing device 140 can obtain the state of the control device 160 at the time of the first user input as a reference state. The processing device 140 can determine the tilt state of the control device 160 based on the reference state. The processing device 140 can control the movement state of at least one component of the medical device based on the tilt state of the control device 160. As an example only, when it is determined that the first user input satisfies the trigger condition, the state of the control device 160 is tilted 10° clockwise around the Y' axis; this state of the control device 160 can be designated as the reference state of the control device 160. When the control device 160 enters the control state and the user performs a tilting operation on the control device 160, the processing device 140 obtains that the state of the control device 160 is tilted 50° clockwise around the Y' axis. Then the processing device 140 can determine that the tilt state of the control device 160 is tilted 40° clockwise around the Y' axis (i.e., 50°-10°=40°).

[0103] According to some embodiments of this application, by using the state of the control device 160 at the time of the first user input as a reference state, the control device 160 is no longer required to be in a horizontal state. When it is determined that the first user input meets the triggering condition, the control device 160 can directly enter the control state, thereby facilitating user operation. The user can flexibly choose whether to use the horizontal state of the control device 160 as the triggering condition for the control device 160 to enter the control state according to actual needs. The tilt direction and tilt angle of the control device 160 can be determined based on the horizontal plane, or it can be determined based on the plane where the control device 160 is located at the time of the first user input.

[0104] In 550, processing device 140 (e.g., control module 430) or control device 160 can control the motion state of at least one component of the medical device based on the tilt state, the motion state including motion direction and / or motion speed.

[0105] In some embodiments, the processing device 140 may acquire second user input. The processing device 140 may control the motion state of at least one component of the medical device based on the second user input and the tilt state. In some embodiments, the second user input may be data and / or information input by the second user through the control device 160. The second user may be an operator (e.g., a doctor, nurse, technician) of the medical device (e.g., a radiotherapy device). The second user and the first user may be the same user or different users. In this application, the first user and the second user may be collectively referred to as users.

[0106] In some embodiments, the control device 160 may include at least one second key. The second key may be a physical key, a touch key, etc. The second key may be located anywhere on the control device 160. The second user input may be a user selection (e.g., pressing) of at least one second key. For example, the second key may be a physical key located on either side of the top of the control device 160 (e.g., as shown in the image). Figure 7 The second key 710-1 and the second key 710-2 shown herein can be pressed by the user's palm and three fingers (excluding the thumb and index finger) on the lower sides of the control device 160 when the user holds the control device 160 with their left or right hand (e.g., as shown). Figure 7 As shown in the first key 720-1 and the first key 720-2, the user's index finger and thumb can press the second key on both sides above the control device 160.

[0107] In some embodiments, the user's second input relates to the movement of components of the medical device 110 that the user needs to control. For example, the medical device may be a radiotherapy device. The radiotherapy device may include a treatment bed, gantry, collimator, etc. Movement of the components of the radiotherapy device may include: the treatment bed along a first axis (e.g., Figure 1 Translational motion of the treatment bed along the second axis (e.g., the X-axis shown), and the translational motion of the treatment bed along the second axis (e.g., Figure 1 Translational motion along the Y-axis (as shown), and along the third axis of the treatment bed (e.g., Figure 1 Translational motion (as shown on the Z-axis), rotational motion of the treatment bed around the treatment bed rotation axis, rotational motion of the gantry around the gantry rotation axis, rotational motion of the collimator around the collimator rotation axis, or any combination thereof.

[0108] In some embodiments, a second key of the control device 160 may correspond to the movement of one or more components of the medical device 110. For example, a second key of the control device 160 may correspond to one or more movements of a component. As another example, a second key of the control device 160 may correspond to multiple movements of multiple components. This is merely an example. Figure 7 The second key 710-1 shown can correspond to the rotational movement of the gantry about the gantry rotation axis and the translational movement of the treatment bed along the third axis. The second key 710-1 can also correspond to the translational movement of the treatment bed along the first axis and the translational movement of the treatment bed along the second axis. When the processing device 140 acquires a second user input associated with a second key, the tilt state of the control device 160 acquired by the processing device 140 can be used to control the movement of one or more components of the medical device 110 corresponding to the second key. In some embodiments, in response to at least one of the at least one second key selected by the user, the processing device 140 can determine at least one movement of at least one component to be controlled from at least one component of the medical device 110. The processing device 140 can control the movement state of at least one movement of at least one component to be controlled based on the tilt state of the control device 160. For example, the processing device 140 can determine the movement direction of at least one movement of at least one component to be controlled based on the tilt direction of the control device 160. The processing device 140 can determine the movement speed of at least one movement of at least one component to be controlled based on the tilt angle of the control device 160. As an example only, when the user selects the second key 710-1 (e.g., presses the second key 710-1), the tilt state of the control device 160 acquired by the processing device 140 can be used to control the rotational movement of the gantry around the gantry rotation axis and the translational movement of the treatment bed along the third axis corresponding to the second key 710-1. At this time, tilting the control device 160 around the Y' axis in a clockwise or counterclockwise direction can control the rotational movement of the gantry around the gantry rotation axis. Tilting the control device 160 around the X' axis in a clockwise or counterclockwise direction can control the translational movement of the treatment bed along the third axis.

[0109] In some embodiments, the processing device 140 can determine the movement direction of at least one component based on the second user input and the tilt direction of the control device 160. For example, suppose the second user input corresponds to the translational movement of the treatment bed along the first axis. The processing device 140 can control the movement direction of the translational movement of the treatment bed along the first axis based on the tilt direction of the control device 160. For example, the processing device 140 can determine the movement direction of the translational movement of the treatment bed along the first axis based on the tilt direction of the control device 160 and the correspondence between the tilt direction of the control device 160 and the movement direction of the treatment bed. The correspondence between the tilt direction of the control device 160 and the movement direction of the treatment bed can be preset by the user. As an example only, when the tilt direction of the control device 160 is a clockwise tilt about the Y' axis, the movement direction of the translational movement of the treatment bed along the first axis can be determined to be the positive direction of the first axis (e.g., as shown in the image). Figure 1 The positive direction of the X-axis is shown. When the tilt direction of the control device 160 is counterclockwise around the Y' axis, the direction of the translational motion of the treatment bed along the first axis can be determined to be the negative direction of the first axis (e.g., as shown). Figure 1 (The negative direction of the X-axis is shown). For example, assuming the second user inputs a rotational movement of the rack around its rotational axis, the processing device 140 can control the direction of the rack's rotational movement around the rotational axis based on the tilt direction of the control device 160. When the tilt direction of the control device 160 is clockwise around the Y' axis, it can be determined that the rack rotates clockwise around the rotational axis. When the tilt direction of the control device 160 is counterclockwise around the Y' axis, it can be determined that the rack rotates counterclockwise around the rotational axis.

[0110] The processing device 140 can determine the movement speed of at least one component based on the second user input and the tilt angle of the control device 160. Assume that the movement of the component to be controlled in the medical device 110 corresponding to the second user input is a translational movement of the treatment bed along a first axis. The processing device 140 can control the movement speed of the translational movement of the treatment bed along the first axis based on the tilt angle of the control device 160. For example, the processing device 140 can determine the movement speed of the translational movement of the treatment bed along the first axis based on the tilt angle of the control device 160 and the correspondence between the tilt angle of the control device 160 and the movement speed of the treatment bed. The correspondence between the tilt angle of the control device 160 and the movement speed of the treatment bed can be preset by the user. In some embodiments, the tilt angle of the control device 160 can be proportional to the movement speed of the treatment bed. As an example only, when the tilt angle of the control device 160 is 10° clockwise around the Y' axis, the translational speed of the treatment bed along the positive direction of the first axis can be determined to be 0.1 m / s. When the tilt angle of the control device 160 is adjusted to 20° clockwise around the Y' axis, the translational speed of the treatment bed along the positive direction of the first axis can be adjusted to 0.2 m / s.

[0111] In some embodiments, the processing device 140 can determine whether the tilt angle of the control device 160 is greater than or equal to an angle threshold. The angle threshold can be user-set or a default value configured in the system by one or more components of the medical system 100 (e.g., the processing device 140) according to different situations. For example, angle thresholds based on different user habits can be pre-stored in one or more components of the medical system 100 (e.g., the storage device 150). Based on the current user information of the control device 160, the processing device 140 can retrieve the angle threshold corresponding to that user from the storage device. As an example, the angle threshold can be 90°. If the tilt angle is determined to be greater than or equal to the angle threshold, the movement speed of at least one component can be controlled to a preset speed. The preset speed movement can be user-set or determined by one or more components of the medical system 100 (e.g., the processing device 140) according to different situations. The preset speed can be the maximum movement speed of the component expected by the user. As an example only, assuming the angle threshold is 90° and the preset speed of a component is 0.5 m / s, when the tilt angle of the control device 160 is equal to or greater than 90°, the component will always move at the predetermined speed.

[0112] In some embodiments, the processing device 140 can determine the acceleration of the corresponding component's acceleration process from a stationary state to a moving state based on the speed at which the control device 160 transitions from an initial state to a tilted state. For example, the faster the control device 160 transitions from the initial state to the tilted state, the greater the acceleration of the treatment bed's acceleration process from a stationary state to a translational motion state along the first axis. In some embodiments, the acceleration of the component's acceleration process from a stationary state to a moving state can be preset by the user. For example, the treatment bed can undergo uniform acceleration motion with constant acceleration.

[0113] In some embodiments, when the treatment bed moves to the target position, the user can restore the control device 160 from the tilted state to the initial state. In some embodiments, the acceleration of the deceleration process of the corresponding component from the moving state to the stationary state can be determined based on the speed at which the control device 160 restores from the tilted state to the initial state. For example, the faster the control device 160 restores from the tilted state to the initial state, the greater the acceleration of the deceleration process of the treatment bed from the translational motion state along the first axis to the stationary state. In some embodiments, the acceleration of the component's deceleration process from the moving state to the stationary state can be preset by the user. For example, the treatment bed can undergo uniform deceleration with constant acceleration.

[0114] In some embodiments, when a component moves to the target position, the medical system 100 may issue a prompt to the user to remind the user that the component has reached the target position. In response to the prompt, the user can stop controlling the component. The prompt may be in the form of sound, text, image, etc. In some embodiments, when a component moves to the target position, the component may automatically stop moving. For example, when the component moves to the target position, the processing device 140 (or control device 160) no longer acquires the tilt state of the control device 160. Another example is that when the component moves to the target position, the processing device 140 (or control device 160) may no longer send motion control signals to the component. Yet another example is that when the component moves to the target position, the component may no longer respond to motion control signals issued by the processing device 140 (or control device 160). In some embodiments, the target position of the component may be user-set, or a system default value set by one or more components of the medical system 100 (e.g., processing device 140) according to different circumstances.

[0115] In some embodiments, the control device 160 may have a single motion mode and multiple motion modes. In the single motion mode, the control device 160 can only control the motion state of one component along a single axis direction at a time. As used in this application, "motion of a component along a single axis direction" may refer to the motion of the component along a predefined axis direction. The predefined axis may be, for example,... Figure 1In the coordinate system 170 shown, the X, Y, and Z axes can be used for motion along predefined axial directions. This can be translation along the X, Y, and Z axes, or rotation about the X, Y, and Z axes. For example, translation of the treatment bed along the X, Y, or Z axes can be considered motion along a single axial direction. Motion of the treatment bed along other directions (e.g., any direction between the X and Y axes) is not considered motion along a single axial direction; it can be considered a combined motion along multiple axial directions (e.g., a combined motion along the X and Y axes). In some embodiments, the directions and number of predefined axes are not limited to... Figure 1 The X, Y, and Z axes shown can be predefined in any number and direction. As an example only, when a user tilts the control device 160 to a certain angle in one direction and completes controlling the movement of the corresponding component (e.g., rotation of the gantry around its rotation axis), the control device 160 needs to return to its initial state before tilting in other directions to control the movement of other components (e.g., translation of the treatment bed along the first axis). In some embodiments, which component's movement can be controlled by the control device 160 at a given time can be specified via a second key on the control device 160.

[0116] In multi-motion mode, the control device 160 can simultaneously control the motion states of multiple components or the motion states of a single component along multiple axes. For example, assuming the control device 160 tilts around the Y' axis in a clockwise or counterclockwise direction corresponding to the rotation of the gantry around its rotation axis, and the control device 160 tilts around the X' axis in a clockwise or counterclockwise direction corresponding to the translation of the treatment bed along a third axis, the user can simultaneously tilt the control device 160 around the Y' axis and around the X' axis. Correspondingly, while the gantry rotates around its rotation axis, the treatment bed can translate along the first axis. In some embodiments, the user can set the motion mode according to actual needs (e.g., safety factors, actual motion requirements) to facilitate user operation.

[0117] In some embodiments, the control device 160 may include a vibration device. The vibration device may include a motor, a tactile device, etc. Taking a motor as an example, in some embodiments, the vibration frequency and / or vibration amplitude generated by the motor are related to the tilt state of the control device 160. For example, the vibration frequency and / or vibration amplitude generated by the motor are proportional to the tilt angle of the control device 160. In some embodiments, the vibration frequency and / or vibration amplitude generated by the motor are related to the motion state of the component. For example, the vibration frequency and / or vibration amplitude generated by the motor are proportional to the motion speed of the component.

[0118] For example, when the control device 160 is placed face up on a horizontal surface, the motor does not vibrate. When the user picks up the control device 160 and tilts it, the motor begins to vibrate. The greater the tilt angle, the faster the corresponding component moves, and the higher the vibration frequency or amplitude of the motor. When the tilt angle of the control device 160 exceeds an angle threshold, i.e., when the component reaches a preset speed (e.g., maximum speed), the motor can vibrate continuously. By configuring a motor in the control device 160, the user can be alerted to the current tilt angle of the control device 160 and the current speed of the corresponding component. In some cases, the user may unintentionally tilt the control device 160 significantly. Setting the motor to vibrate can remind the user to adjust the tilt angle in time, thereby avoiding potential danger.

[0119] It should be noted that the above description of this application is provided for illustrative purposes only and is not intended to limit the scope of this application. Various changes and modifications can be made by those skilled in the art based on the description of this application. However, these changes and modifications do not depart from the scope of this application. In some embodiments, if it is determined that the first user input does not meet the trigger condition, the control device 160 does not enter the control state, and the processing device 140 (or the control device 160) can continuously acquire the first user input until it is determined that the first user input meets the trigger condition, at which point the control device 160 enters the control state.

[0120] In some embodiments, one or more steps in steps 510-530 may be omitted. For example, steps 510-530 may be omitted. Processing device 140 may not need to acquire the first user input and / or the second user input. Processing device 140 (or control device 160) can acquire the tilt state of control device 160 via an inertial sensor. Processing device 140 (or control device 160) can control the motion state of at least one component of the medical device based on the tilt state. Again, for example, steps 520 and 530 may be omitted. Processing device 140 may not need to determine whether the first user input meets the trigger condition. After processing device 140 acquires the first user input, it causes control device 160 to enter a control state.

[0121] It should be noted that, Figure 1 The coordinate axes shown (e.g., X-axis, Y-axis, Z-axis) and Figure 6 The orientation and number of coordinate axes (e.g., X', Y', Z' axes) shown are provided for illustrative purposes only and are not intended to limit the scope of this application. In some embodiments, the control device 160 may tilt about any other axis, and the corresponding component may move along the axial direction of any other axis.

[0122] Figure 7-9This is a schematic diagram of the interface of an exemplary control device according to some embodiments of this application.

[0123] like Figure 7-9 As shown, the control device 160 may include an inertial sensor (not shown), a display device 730, at least one first key (e.g., first key 720-1, first key 720-2) and at least one second key (e.g., second key 710-1, second key 710-2). At least one first key (e.g., first key 720-1, first key 720-2) can be used to put the control device 160 into a control state. The at least one first key can be located at any position on the control device 160. For example, first key 720-1 and first key 720-2 are located on either side of the lower part of the control device 160. At least one second key (e.g., second key 710-1, second key 710-2) can be used to select the movement of at least one component of the medical device to be controlled. At least one second key can be located at any position on the control device 160. For example, second key 710-1 and second key 710-2 are located on either side of the upper part of the control device 160. The at least one first key and the at least one second key can be physical keys or touch keys. At least one first bond and at least one second bond can have any shape and size.

[0124] In some embodiments, when at least one first key is selected, the control device 160 enters a control state, and the display device 730 can display a first interface. The first interface includes at least one selectable icon, and the at least one selectable icon corresponds to at least one second key. For example, when both first keys 720-1 and 720-2 are selected by the user, it can be determined that the trigger condition is met, and the control device 160 enters the control state. After the control device 160 enters the control state, the display device 730 can display the first interface A, such as... Figure 7 As shown. The first interface A is used to prompt the user to select the movement of at least one component of the medical device to be controlled via the second keys 710-1 and 710-2. For example, a first motion icon 790 and a second motion icon 740 may appear on the first interface A. The first motion icon 790 corresponds to the second key 710-1, and the second motion icon 740 corresponds to the second key 710-2. The first motion icon 790 corresponds to the rotational movement of the gantry around the gantry rotation axis and the movement of the treatment bed along the third axis (e.g., ...). Figure 1 Translational motion along the Z-axis (as shown). The second motion icon 740 corresponds to the treatment bed along the first axis (e.g., the Z-axis). Figure 1 Translational motion of the X-axis (as shown) and the treatment bed along the second axis (e.g., Figure 1 Translational motion along the Y-axis (as shown).

[0125] In some embodiments, when at least one of the at least one second key is selected, the display device 730 may display a second interface for indicating the movement of at least one component of the medical device to be controlled. For example, when a user presses the second key 710-1, the display device 730 may display the second interface B, such as... Figure 8 As shown. The second interface B is used to indicate the movement of at least one component of the medical device to be controlled. For example, in the second interface B, the first motion icon 790 is lit, and a first indicator icon 750 and a second indicator icon 760 appear in the second interface B. The first indicator icon 750 and the second indicator icon 760 can represent the component to be controlled and / or the direction of movement. The first indicator icon 750 and the second indicator icon 760 respectively indicate the rotational movement of the gantry around the gantry rotation axis and the translational movement of the treatment bed along the third axis corresponding to the second key 710-1. For example, the first indicator icon 750 is used to indicate to the user that tilting the control device 160 around the Y' axis (clockwise or counterclockwise) can control the rotational movement of the gantry around the gantry rotation axis (clockwise or counterclockwise). The second indicator icon 760 is used to indicate to the user that tilting the control device 160 around the X' axis (clockwise or counterclockwise) can control the translational movement of the treatment bed along the third axis (positive or negative direction).

[0126] Similarly, when the user presses the second key 710-2, the display device 730 can display the third interface C, such as... Figure 9 As shown. For example, in the third interface C, the second motion icon 740 is lit, and a third indicator icon 770 and a fourth indicator icon 780 appear in the third interface C. Optionally, the third indicator icon 770 and the fourth indicator icon 780 can represent motion components and / or motion directions. The third indicator icon 770 and the fourth indicator icon 780 respectively indicate the translational movement of the treatment bed corresponding to the second key 710-2 along the first axis and the translational movement of the treatment bed along the second axis. For example, the third indicator icon 770 is used to indicate to the user that tilting the control device 160 around the Y' axis (clockwise or counterclockwise) can control the translational movement of the treatment bed along the first axis (positive or negative direction). The fourth indicator icon 780 is used to indicate to the user that tilting the control device 160 around the X' axis (clockwise or counterclockwise) can control the translational movement of the treatment bed along the second axis (positive or negative direction).

[0127] It should be noted that the above description of this application is provided for illustrative purposes only and is not intended to limit the scope of this application. Those skilled in the art can make various changes and modifications based on the description of this application. However, these changes and modifications do not depart from the scope of this application. For example, the control device 160 can be of any size and shape. As another example, the display device 730 can be of any size and shape. As another example, the control device 160 can include any number of first keys and any number of second keys. As another example, motion icons and indicator icons can be of any form, size, or shape. Motion icons and indicator icons can be displayed at any position on the interface of the control device 160. As another example, the control device 160 may also include keys with other functions besides the first and second keys. As another example, the control device 160 may also include a voice acquisition device (e.g., a microphone), an image acquisition device (e.g., a camera), etc.

[0128] It should be noted that the above description of this application is only illustrative of controlling radiotherapy equipment. In some embodiments, the control method described in this application can also be used to control the motion state of other medical devices (e.g., surgical robots). In some embodiments, the control method described in this application can also be applied to fields other than medicine. For example, the control method described in this application can be used to control the motion state of movable devices such as wheelchairs, vehicles (e.g., autonomous vehicles), aircraft (e.g., drones), and ships.

[0129] Compared with the prior art, the beneficial effects that the above embodiments of this application may bring include, but are not limited to: (1) Using inertial sensors (e.g., accelerometers, gyroscopes) to replace the dials on traditional control devices (e.g., hand control boxes for radiotherapy equipment) eliminates the need for users to visually confirm the dials. Users can control the motion state (e.g., direction of motion, speed of motion) of medical device components simply by controlling the tilt direction and tilt angle of the control device, facilitating blind operation. (2) Users can select single motion mode and multi-motion mode according to actual needs. In single motion mode, only one component's motion state is controlled at the same time. In multi-motion mode, multiple components' motion states can be controlled at the same time. (3) The control device is equipped with a vibration device (e.g., a linear motor), which can sense the tilt state (e.g., tilt angle) and motion state (e.g., speed of motion) of the control device through vibration when the user is not looking at the control device. (4) Existing inertial sensors have high integration, and a single chip can realize the corresponding functions, making the hand control box very compact. (5) The control device has no mechanical moving parts (e.g., dials), extending its service life. It should be noted that different embodiments may produce different beneficial effects. In different embodiments, the beneficial effects may be any one or a combination of the above, or any other possible beneficial effects.

[0130] The basic concepts have been described above. Obviously, for those skilled in the art who have read this application, the above disclosure is merely illustrative and does not constitute a limitation of this application. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements, and corrections to this application. Such modifications, improvements, and corrections are suggested in this application, and therefore, such modifications, improvements, and corrections still fall within the spirit and scope of the exemplary embodiments of this application.

[0131] Furthermore, this application uses specific terms to describe its embodiments. For example, "an embodiment," "one embodiment," and / or "some embodiments" refer to a particular feature, structure, or characteristic related to at least one embodiment of this application. Therefore, it should be emphasized and noted that "an embodiment," "one embodiment," or "an alternative embodiment" mentioned twice or more in different locations in this specification do not necessarily refer to the same embodiment. In addition, certain features, structures, or characteristics in one or more embodiments of this application can be appropriately combined.

[0132] Furthermore, those skilled in the art will understand that aspects of this application can be described and illustrated through several patentable types or situations, including any new and useful combination of processes, machines, products, or substances, or any new and useful improvements thereof. Therefore, aspects of this application can be implemented entirely in hardware, entirely in software (including firmware, resident software, microcode, etc.), or a combination of hardware and software. All of the above hardware or software can be referred to as a “unit,” “module,” or “system.” Furthermore, aspects of this application can take the form of a computer program product embodied in one or more computer-readable media, wherein computer-readable program code is contained therein.

[0133] A computer-readable signal medium may contain a propagated data signal containing computer program code, for example, on baseband or as part of a carrier wave. Such propagated signals can take many forms, including electromagnetic, optical, and any suitable combination thereof. A computer-readable signal medium can be any computer-readable medium other than a computer-readable storage medium, which can be connected to an instruction execution system, apparatus, or device to enable communication, propagation, or transmission of a program for use. The program code located on the computer-readable signal medium can be propagated through any suitable medium, including radio, cable, fiber optic cable, RF, and any combination of the above.

[0134] The computer program code required for the operation of each part of this application can be written in any one or more programming languages, including object-oriented programming languages ​​such as Java, Scala, Smalltalk, Eiffel, JADE, Emerald, C++, C#, VB.NET, and Python; general programming languages ​​such as C; Visual Basic, Fortran2103, Perl, COBOL2102, PHP, and ABAP; dynamic programming languages ​​such as Python, Ruby, and Groovy; or other programming languages. This program code can run entirely on the user's computer, or as a standalone software package on the user's computer, or partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the latter case, the remote computer can be connected to the user's computer via any type of network (including a local area network (LAN) or a wide area network (WAN)), or can establish a connection with an external computer (e.g., through the network of an internet service provider) or in a cloud computing environment, or provided as a service, such as a software service (SaaS).

[0135] Furthermore, unless expressly stated in the claims, the order of processing elements and sequences, the use of numbers and letters, or other names described in this application are not intended to limit the order of the processes and methods of this application. Although various examples have been discussed in the foregoing disclosure of some embodiments of the invention that are currently considered useful, it should be understood that such details are for illustrative purposes only, and the appended claims are not limited to the disclosed embodiments. Rather, the claims are intended to cover all modifications and equivalent combinations that conform to the substance and scope of the embodiments of this application. For example, although the implementation of the various components described above can be embodied in a hardware device, it can also be implemented as a purely software solution, such as an installation on an existing server or mobile device.

[0136] Similarly, it should be noted that, in order to simplify the description of the present application and thus aid in the understanding of one or more embodiments of the invention, the foregoing description of the embodiments of the present application sometimes combines multiple features into a single embodiment, drawing, or description thereof. However, the method of the present application should not be construed as reflecting an intention that the claimed object to be scanned requires more features than expressly recited in each claim. Rather, the subject of the invention should possess fewer features than in any single embodiment described above.

[0137] In some embodiments, the numbers used to describe and claim certain embodiments of this application that represent quantities or properties should be understood to be modified in certain circumstances by the terms "approximately," "approximately," or "substantially." For example, unless otherwise stated, "approximately," "approximately," or "substantially" may indicate a variation of ±20% of the value they describe. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximate values ​​that may be varied depending on the desired characteristics of individual embodiments. In some embodiments, numerical parameters should take into account specified significant digits and employ a general method of digit reservation. Although the numerical ranges and parameters used to confirm their breadth of application in some embodiments of this application are approximate values, in specific embodiments, such numerical values ​​are set as precisely as feasible.

[0138] All patents, patent applications, patent application publications, and other materials (such as papers, books, specifications, publications, records, things, and / or similar items) mentioned in this application are hereby incorporated in their entirety by reference for all purposes, except for any prosecution documents relating to the foregoing, any foregoing documents that are inconsistent with or conflict with this document, or any foregoing documents that limit the broad scope of the claims sooner or later to this document. For example, if there is any inconsistency or conflict between the description, definitions, and / or the use of terminology associated with any incorporated material and the terminology associated with this document, the description, definitions, and / or the terminology used in this document shall be as used in this document.

[0139] Finally, it should be understood that the embodiments described in this application are merely illustrative of the principles of the embodiments of this application. Other modifications may also fall within the scope of this application. Therefore, alternative configurations of the embodiments of this application are considered as examples and not limitations, and are regarded as consistent with the teachings of this application. Accordingly, the embodiments of this application are not limited to the embodiments explicitly described and illustrated in this application.

Claims

1. A method for controlling a radiotherapy device, comprising: Get the first user input; Determine whether the first user input meets the triggering condition; If it is determined that the first user input meets the triggering condition, the handheld device enters the control state; Obtain the tilt state of the handheld device; as well as Based on the tilt state, the motion state of at least one component of the radiotherapy device is controlled, the motion state including motion direction and / or motion speed, and the motion state of at least one component of the radiotherapy device includes at least one of the following: The translational motion of the treatment bed along the first axis. The translational motion of the treatment bed along the second axis The translational motion of the treatment bed along the third axis The rotational motion state of the treatment bed around its rotation axis. The rotational motion of the frame around its axis of rotation, or The rotational motion state of the collimator about its rotation axis.

2. The method according to claim 1, characterized in that, The handheld device includes at least one first button, and determining whether the first user input meets the trigger condition includes: Determine whether the first user input is to select at least one first key.

3. The method according to claim 1, characterized in that, The handheld device includes at least one second button, and the control of the movement state of at least one component of the radiotherapy device based on the tilt state includes: Obtain second user input for selecting at least one of the at least one second key; and Based on the second user input and the tilt state, the motion state of at least one component of the radiotherapy device is controlled.

4. The method according to claim 3, characterized in that, The tilt state includes a tilt direction and / or a tilt angle, and controlling the motion state of at least one component of the radiotherapy device based on the second user input and the tilt state includes: Based on the second user input and the tilt direction, determine the motion direction of the at least one component; and / or The movement speed of the at least one component is determined based on the second user input and the tilt angle.

5. The method according to claim 4, characterized in that, Determining the movement speed of the at least one component based on the second user input and the tilt angle includes: Determine whether the tilt angle is greater than or equal to an angle threshold; and If the tilt angle is determined to be greater than or equal to the angle threshold, the movement speed of the at least one component is set to a preset speed.

6. The method according to claim 1, characterized in that, The handheld device includes a vibration device, which expresses the movement speed of at least one component through the vibration frequency and / or vibration amplitude of the vibration device.

7. The method according to claim 1, characterized in that, The step of causing the handheld device to enter a control state when it is determined that the first user input meets the triggering condition includes: Determine whether the handheld device is in its initial state; and If it is determined that the handheld device is in the initial state, and it is determined that the first user input satisfies the triggering condition, the handheld device is made to enter the control state.

8. The method according to claim 1, characterized in that, The control of the movement state of at least one component of the radiotherapy device based on the tilt state includes: The state of the handheld device at the time of the first user input is obtained as a reference state; Based on the reference state, the tilt state of the handheld device is determined; and Based on the tilt state, the motion state of at least one component of the radiotherapy device is controlled.

9. The method according to claim 1, characterized in that, The handheld device includes an inertial sensor, and acquiring the tilt state of the handheld device includes: Acquire the detection data from the inertial sensor; and Based on the detection data, the tilt state of the handheld device is determined.

10. The method according to claim 1, characterized in that, The method further includes: Obtain second user input, wherein the second user input is a user selecting at least one second key from a plurality of second keys set on the handheld device; Based on the tilt state, the movement state of at least one of the treatment bed, gantry, and collimator of the radiotherapy device corresponding to the selected second key is controlled.

11. The method according to claim 10, characterized in that, The handheld device has multiple motion modes. In the multiple motion modes, when the motion state of at least one of the treatment bed, gantry, and collimator of the radiotherapy device corresponding to the selected second key includes multiple motion states of multiple components, or multiple motion states of one component along multiple axial directions, the handheld device controls the multiple motion states of the multiple components or controls the multiple motion states of one component along multiple axial directions at the same time.

12. A medical system, characterized in that, The system includes: A radiotherapy device, comprising a treatment bed, a gantry, and a collimator; A handheld device, including at least one inertial sensor; At least one processor; At least one storage medium is used to store instructions, and when the instructions are executed, the at least one processor causes the system to perform the following steps: The tilt state of the handheld device is obtained through the inertial sensor; and Based on the tilt state, the motion state of at least one component of the radiotherapy device is controlled, the motion state including motion direction and / or motion speed, and the motion state of at least one component of the radiotherapy device includes at least one of the following: The translational motion of the treatment bed along the first axis. The translational motion of the treatment bed along the second axis The translational motion of the treatment bed along the third axis The rotational motion state of the treatment bed around its rotation axis. The rotational motion of the frame around its axis of rotation, or The rotational motion state of the collimator about its rotation axis.

13. The system of claim 12, wherein the handheld device includes at least one first key, and the at least one processor further causes the system to perform the following steps: In response to the user selecting at least one first key, the handheld device enters a control state.

14. The system of claim 12, wherein the handheld device includes at least one second key, and the at least one processor further causes the system to perform the following steps: In response to at least one of the at least one second key selected by the user, at least one movement of at least one component to be controlled is determined from the at least one component; and Based on the tilt state, the motion state of at least one motion of the at least one component to be controlled is controlled.

15. The system according to claim 14, characterized in that, The tilt state includes a tilt direction and / or a tilt angle. In order to control the motion state of at least one motion of the at least one controlled component based on the tilt state, the at least one processor causes the system to perform the following steps: Based on the tilt direction, determine the motion direction of at least one motion of the at least one component to be controlled; and / or Based on the tilt angle, the motion speed of at least one motion of the at least one component to be controlled is determined.

16. The system according to claim 12, characterized in that, The inertial sensor includes an accelerometer or a gyroscope.

17. The system according to claim 12, characterized in that, The handheld device includes a vibration device, the vibration frequency and / or vibration amplitude of which are related to the tilt state of the handheld device.

18. The system according to claim 12, characterized in that, The handheld device includes a vibration device, the vibration frequency and / or vibration amplitude of which are proportional to the speed of movement of the at least one component.

19. The system according to claim 12, characterized in that, The handheld device has a single motion mode, in which the handheld device controls the motion state of a corresponding component along a single axis direction at the same time.

20. The system according to claim 12, characterized in that, The handheld device has multiple motion modes. In the multiple motion modes, the handheld device can control the motion states of multiple components at the same time, or control the motion states of a component along multiple axes.

21. A handheld device, characterized in that, The handheld device includes: An inertial sensor is used to acquire the tilt state of the handheld device; Display devices; At least one first key is used to put the handheld device into a control state; and At least one second key is used to select the movement of at least one component among the treatment bed, gantry, and collimator of the radiotherapy equipment, wherein the tilt state is used to control the movement state of the at least one component, the movement state including the direction of movement and / or the speed of movement; The motion state of at least one component includes at least one of the following: The translational motion of the treatment bed along the first axis The translational motion of the treatment bed along the second axis The translational motion of the treatment bed along the third axis The rotational motion state of the treatment bed around its rotation axis. The rotational motion state of the frame around the frame rotation axis, or The rotational motion state of the collimator about the collimator rotation axis.

22. The device according to claim 21, wherein the at least one first key and / or the at least one second key is a physical key or a touch key.

23. The device according to claim 21, characterized in that, When at least one first key is selected, the handheld device enters the control state.

24. The device according to claim 23, characterized in that, The display device displays a first interface, which includes at least one icon to be selected, and the at least one icon to be selected corresponds to the at least one second key.

25. The device according to claim 24, characterized in that, When at least one of the at least two second keys is selected, the display device displays a second interface for indicating the movement of at least one component of the radiotherapy device.

26. The device according to claim 21, characterized in that, The inertial sensor includes an accelerometer or a gyroscope.

27. The device according to claim 21, characterized in that, The handheld device includes a vibration device, the vibration frequency and / or vibration amplitude of which are related to the tilt state of the handheld device.

28. The device according to claim 21, characterized in that, The handheld device includes a vibration device, the vibration frequency and / or vibration amplitude of which are proportional to the magnitude of the speed of movement of the at least one component.

29. The device according to claim 21, characterized in that, The handheld device has a single motion mode, in which the handheld device controls the motion state of a corresponding component along a single axis direction at the same time.

30. The device according to claim 21, characterized in that, The handheld device has multiple motion modes. In the multiple motion modes, the handheld device can control the motion states of multiple components at the same time, or control the motion states of a component along multiple axes.

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